From ef0e971b50ed94b06fa29cdd12a311240c56c571 Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Thu, 25 Oct 2018 17:25:29 +0200
Subject: [PATCH] Add landmarks demo to the docs. (#1077)

---
 docs/source/data.rst  | 33 +++++++++++++++++++++++++++++++++
 docs/source/demos.rst | 15 +++++++++++++++
 2 files changed, 48 insertions(+)

diff --git a/docs/source/data.rst b/docs/source/data.rst
index ba29eaa..f92853d 100644
--- a/docs/source/data.rst
+++ b/docs/source/data.rst
@@ -164,6 +164,39 @@ Data
 `b3-2016-06-07-12-42-49.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-06-07-12-42-49.bag>`_                  596 s    3.9 GB 3 gaps in horizontal laser data, no intensities
 ==================================================================================================================================================== ======== ====== ================================================
 
+MiR
+===========================================
+
+This data was collected using `MiR100 <http://www.mobile-industrial-robots.com/de/products/mir100/>`_.
+An additional Logitech Webcam C930e Full HD camera was attached on top to
+collect images for landmark detection.
+
+License
+-------
+
+Copyright 2018 The Cartographer Authors
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+Data
+----
+
+==================================================================================================================================================== ======== =======
+`ROS Bag <http://wiki.ros.org/Bags>`_                                                                                                                Duration Size
+==================================================================================================================================================== ======== =======
+`landmarks_demo_uncalibrated.bag <https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag>`_                   180 s 41.7 MB
+==================================================================================================================================================== ======== =======
+
 PR2 – Willow Garage
 ===================
 
diff --git a/docs/source/demos.rst b/docs/source/demos.rst
index 99b8596..d98a6b2 100644
--- a/docs/source/demos.rst
+++ b/docs/source/demos.rst
@@ -45,6 +45,21 @@ Pure localization
        load_state_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream \
        bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag
 
+Static landmarks
+========
+
+  .. raw:: html
+
+      <iframe width="560" height="315" src="https://www.youtube.com/embed/E2-OD-ycivc" frameborder="0" allowfullscreen></iframe>
+
+  .. code-block:: bash
+
+    # Download the landmarks example bag.
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag
+
+    # Launch the landmarks demo.
+    roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filename:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag
+
 Revo LDS
 ========